Struct k::RefKinematicChain

pub struct RefKinematicChain<T: Real> {
    pub name: String,
    pub joint_with_links: Vec<RcLinkNode<T>>,
    pub transform: Isometry3<T>,
}

Kinematic chain using Rc<RefCell<LinkNode<T>>>

Fields

name: String

joint_with_links: Vec<RcLinkNode<T>>

transform: Isometry3<T>

Methods

impl<T> RefKinematicChain<T> where
    T: Real, 

fn new(name: &str, end: &RcLinkNode<T>) -> Self

Trait Implementations

impl<T> KinematicChain<T> for RefKinematicChain<T> where
    T: Real, 

fn calc_end_transform(&self) -> Isometry3<T>

fn set_joint_angles(&mut self, angles: &[T]) -> Result<(), JointError>

fn get_joint_angles(&self) -> Vec<T>